# Robot 2D Localization¶

Demonstrates solving a 2D localization problem with SymForce. The goal is for a robot in a 2D plane to compute its trajectory given distance measurements from wheel odometry and relative bearing angle measurements to known landmarks in the environment.

## Files:¶

`robot_2d_localization.py`

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Sets up and solves the optimization problem step-by-step. See the tutorial on the SymForce homepage for a detailed walkthrough.

`plotting.py`

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Contains helper functions for visualizing the optimization problem